DroneControl/iq_sim/models/drone_with_camera4/model.sdf

<?xml version='1.0'?>
<sdf version="1.6" >
  <model name="drone_with_camera4">
    <include>
      <uri>model://iris_base</uri>
    </include>

    <link name="cam_link">
      <pose>0 0 -0.02 0 0 0 </pose>
      <inertial>
        <mass>0.01</mass>
        <inertia>
          <ixx>0.001</ixx>
          <iyy>0.001</iyy>
          <izz>0.001</izz>
        </inertia>
      </inertial>
      <!-- <collision name="collision">
          <geometry>
            <cylinder>
              <radius>.005</radius>
              <length>.018</length>
            </cylinder>
          </geometry>
        </collision> -->
      <visual name='cam_link'>
    	<pose>0 0 0.15 0 1.5707 0</pose>
    	<geometry>
    		<cylinder>
    			<radius>.005</radius>
    			<length>.018</length>
    		</cylinder>
    	</geometry>
    </visual>
    <sensor name="cam" type="camera" >
      <pose>0 0 0.15 0 0 0</pose>
      <camera>
        <horizontal_fov>1.2</horizontal_fov>
        <image>
          <width>640</width>
          <height>480</height>
        </image>
        <clip>
          <near>0.1</near>
          <far>1000</far>
        </clip>
      </camera>
      <always_on>1</always_on>
      <update_rate>30</update_rate>
      <visualize>true</visualize>
      <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
        <always_on>true</always_on>
        <update_rate>30</update_rate>
        <cameraName>webcam</cameraName>
        <imageTopicName>image_raw</imageTopicName>
        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
        <frameName>camera_link</frameName>
      </plugin>
    </sensor>
    </link>
    <joint name="camera_mount" type="fixed">
      <child>cam_link</child>
      <parent>iris::base_link</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <upper>0</upper>
          <lower>0</lower>
        </limit>
      </axis>
    </joint>

 

    <!-- plugins -->
    <plugin name="rotor_0_blade_1" filename="libLiftDragPlugin.so">
      <a0>0.3</a0>
      <alpha_stall>1.4</alpha_stall>
      <cla>4.2500</cla>
      <cda>0.10</cda>
      <cma>0.00</cma>
      <cla_stall>-0.025</cla_stall>
      <cda_stall>0.0</cda_stall>
      <cma_stall>0.0</cma_stall>
      <area>0.002</area>
      <air_density>1.2041</air_density>
      <cp>0.084 0 0</cp>
      <forward>0 1 0</forward>
      <upward>0 0 1</upward>
      <link_name>iris::rotor_0</link_name>
    </plugin>
    <plugin name="rotor_0_blade_2" filename="libLiftDragPlugin.so">
      <a0>0.3</a0>
      <alpha_stall>1.4</alpha_stall>
      <cla>4.2500</cla>
      <cda>0.10</cda>
      <cma>0.00</cma>
      <cla_stall>-0.025</cla_stall>
      <cda_stall>0.0</cda_stall>
      <cma_stall>0.0</cma_stall>
      <area>0.002</area>
      <air_density>1.2041</air_density>
      <cp>-0.084 0 0</cp>
      <forward>0 -1 0</forward>
      <upward>0 0 1</upward>
      <link_name>iris::rotor_0</link_name>
    </plugin>

    <plugin name="rotor_1_blade_1" filename="libLiftDragPlugin.so">
      <a0>0.3</a0>
      <alpha_stall>1.4</alpha_stall>
      <cla>4.2500</cla>
      <cda>0.10</cda>
      <cma>0.00</cma>
      <cla_stall>-0.025</cla_stall>
      <cda_stall>0.0</cda_stall>
      <cma_stall>0.0</cma_stall>
      <area>0.002</area>
      <air_density>1.2041</air_density>
      <cp>0.084 0 0</cp>
      <forward>0 1 0</forward>
      <upward>0 0 1</upward>
      <link_name>iris::rotor_1</link_name>
    </plugin>
    <plugin name="rotor_1_blade_2" filename="libLiftDragPlugin.so">
      <a0>0.3</a0>
      <alpha_stall>1.4</alpha_stall>
      <cla>4.2500</cla>
      <cda>0.10</cda>
      <cma>0.00</cma>
      <cla_stall>-0.025</cla_stall>
      <cda_stall>0.0</cda_stall>
      <cma_stall>0.0</cma_stall>
      <area>0.002</area>
      <air_density>1.2041</air_density>
      <cp>-0.084 0 0</cp>
      <forward>0 -1 0</forward>
      <upward>0 0 1</upward>
      <link_name>iris::rotor_1</link_name>
    </plugin>

    <plugin name="rotor_2_blade_1" filename="libLiftDragPlugin.so">
      <a0>0.3</a0>
      <alpha_stall>1.4</alpha_stall>
      <cla>4.2500</cla>
      <cda>0.10</cda>
      <cma>0.00</cma>
      <cla_stall>-0.025</cla_stall>
      <cda_stall>0.0</cda_stall>
      <cma_stall>0.0</cma_stall>
      <area>0.002</area>
      <air_density>1.2041</air_density>
      <cp>0.084 0 0</cp>
      <forward>0 -1 0</forward>
      <upward>0 0 1</upward>
      <link_name>iris::rotor_2</link_name>
    </plugin>
    <plugin name="rotor_2_blade_2" filename="libLiftDragPlugin.so">
      <a0>0.3</a0>
      <alpha_stall>1.4</alpha_stall>
      <cla>4.2500</cla>
      <cda>0.10</cda>
      <cma>0.00</cma>
      <cla_stall>-0.025</cla_stall>
      <cda_stall>0.0</cda_stall>
      <cma_stall>0.0</cma_stall>
      <area>0.002</area>
      <air_density>1.2041</air_density>
      <cp>-0.084 0 0</cp>
      <forward>0 1 0</forward>
      <upward>0 0 1</upward>
      <link_name>iris::rotor_2</link_name>
    </plugin>

    <plugin name="rotor_3_blade_1" filename="libLiftDragPlugin.so">
      <a0>0.3</a0>
      <alpha_stall>1.4</alpha_stall>
      <cla>4.2500</cla>
      <cda>0.10</cda>
      <cma>0.00</cma>
      <cla_stall>-0.025</cla_stall>
      <cda_stall>0.0</cda_stall>
      <cma_stall>0.0</cma_stall>
      <area>0.002</area>
      <air_density>1.2041</air_density>
      <cp>0.084 0 0</cp>
      <forward>0 -1 0</forward>
      <upward>0 0 1</upward>
      <link_name>iris::rotor_3</link_name>
    </plugin>
    <plugin name="rotor_3_blade_2" filename="libLiftDragPlugin.so">
      <a0>0.3</a0>
      <alpha_stall>1.4</alpha_stall>
      <cla>4.2500</cla>
      <cda>0.10</cda>
      <cma>0.00</cma>
      <cla_stall>-0.025</cla_stall>
      <cda_stall>0.0</cda_stall>
      <cma_stall>0.0</cma_stall>
      <area>0.002</area>
      <air_density>1.2041</air_density>
      <cp>-0.084 0 0</cp>
      <forward>0 1 0</forward>
      <upward>0 0 1</upward>
      <link_name>iris::rotor_3</link_name>
    </plugin>
    <plugin name="arducopter_plugin" filename="libArduPilotPlugin.so">
      <fdm_addr>127.0.0.1</fdm_addr>
      <fdm_port_in>9002</fdm_port_in>
      <fdm_port_out>9003</fdm_port_out>
      <!--
          Require by APM :
          Only change model and gazebo from XYZ to XY-Z coordinates
      -->
      <modelXYZToAirplaneXForwardZDown>0 0 0 3.141593 0 0</modelXYZToAirplaneXForwardZDown>
      <gazeboXYZToNED>0 0 0 3.141593 0 0</gazeboXYZToNED>
      <imuName>iris::iris/imu_link::imu_sensor</imuName>
      <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
      <control channel="0">
      <!--
          incoming control command [0, 1]
          so offset it by 0 to get [0, 1]
          and divide max target by 1.
          offset = 0
          multiplier = 838 max rpm / 1 = 838
        -->
        <type>VELOCITY</type>
        <offset>0</offset>
        <p_gain>0.20</p_gain>
        <i_gain>0</i_gain>
        <d_gain>0</d_gain>
        <i_max>0</i_max>
        <i_min>0</i_min>
        <cmd_max>2.5</cmd_max>
        <cmd_min>-2.5</cmd_min>
        <jointName>iris::rotor_0_joint</jointName>
        <multiplier>838</multiplier>
        <controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
      </control>
      <control channel="1">
        <type>VELOCITY</type>
        <offset>0</offset>
        <p_gain>0.20</p_gain>
        <i_gain>0</i_gain>
        <d_gain>0</d_gain>
        <i_max>0</i_max>
        <i_min>0</i_min>
        <cmd_max>2.5</cmd_max>
        <cmd_min>-2.5</cmd_min>
        <jointName>iris::rotor_1_joint</jointName>
        <multiplier>838</multiplier>
        <controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
      </control>
      <control channel="2">
        <type>VELOCITY</type>
        <offset>0</offset>
        <p_gain>0.20</p_gain>
        <i_gain>0</i_gain>
        <d_gain>0</d_gain>
        <i_max>0</i_max>
        <i_min>0</i_min>
        <cmd_max>2.5</cmd_max>
        <cmd_min>-2.5</cmd_min>
        <jointName>iris::rotor_2_joint</jointName>
        <multiplier>-838</multiplier>
        <controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
      </control>
      <control channel="3">
        <type>VELOCITY</type>
        <offset>0</offset>
        <p_gain>0.20</p_gain>
        <i_gain>0</i_gain>
        <d_gain>0</d_gain>
        <i_max>0</i_max>
        <i_min>0</i_min>
        <cmd_max>2.5</cmd_max>
        <cmd_min>-2.5</cmd_min>
        <jointName>iris::rotor_3_joint</jointName>
        <multiplier>-838</multiplier>
        <controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
      </control>
    </plugin>

  </model>
</sdf>